CONTROL SYSTEMS ENGINEERING D227

S.A.E. SOLUTIONS
TUTORIAL 4 SYSTEM RESPONSE
SELF ASSESSMENT EXERCISE No.1
1. Show the derivation of the transfer function for spring and damper system shown. Given that
the damping coefficient kd is 0.03 and the spring stiffness k is 4 kN/m, determine the time constant
for the system. If a force of F = 100 N is suddenly applied, calculate the value of x after T seconds.

F(s) = k x + kd s x = x(k + kd s)
F = k x + kd dx/dt
x
1
1/k
1/k
(s) =
=
=
F
k d s + k (k d /k )s + 1 Ts + 1
T = 0.03/4000 = 7.5 x 10-6 seconds
xo = (F/k)(1 e-t/T) = (100/4000)(1 e-1) = 0.0158 m

2. A block of metal has a mass of 0.5 kg, specific heat capacity 346 J/kg K and temperature of
1 = 20oC. It is dropped into a large tank of oil at 2 = 120oC and it is found that the temperature of
the block takes 6 minutes to reach 119 oC.

1
Assume that the temperature of the block is changes by the law 1 (s) =
(Ts + 1)
2
Show that the temperature of the block changes with time by the law

= 1 + (2 - 1)(1-e-t/T)

Determine the time constant T and hence the thermal resistance between the block and the oil.

1
=
= Ts 2 + 2 = 2 (Ts + 1)
2 Ts + 1

(s) = 2 substitute 2(s) = 1/s for a step input.

Ts + 1
1
(t) = inverse Laplace transform of
s(Ts + 1)
1/T
Rearrange into a recognisable transform and
(t) = 1 e t/T
s(s + 1/T)
Since the step is in fact 2 = 1 and the temperature at the start is 1 then the response is
(t) = 1 + ( 2 1 ) 1 e t/T
119 = 20 + (120 -20)(1 e-6/T) = 20 + 100(1 e-6/T)
99 = 100(1 e-6/T)
0.99 = (1 e-6/T)
0.01 = e-6/T
-4.605 = -6/T
T = 1.302 minute or 78.17 seconds
Thermal capacitance C = mc = 0.5 x 346 = 173 J/K
T = RC hence R = T/C = 78.17/173 = 0.452 K/W

3. A hydraulic motor has a nominal displacement of k1 m3/radian. The speed is controlled by a

simple valve such that the pressure to the motor is k2x where x is the input position of the valve.
The motor has a moment of inertia J kg m2 and a damping coefficient of k3 Nm s/radian.
Given that the torque developed by the motor is k1p, show that the open loop transfer function

1
=
relating output to input x is given by
k m x Ts + 1
J
kk
and k m = 1 2
T =
k3
k3
The input is given a step change. Sketch the response of the output. Determine the % change in the
output at t = T and t = 4T.
Show on the sketch the affect of increasing the moment of inertia.
Assuming there is no load torque then the motor torque has to overcome inertia and damping only.
Torque = k1p = J + k3
k1 k2x = Jd/dt + k3
k1 k2x (s) = J s + k3
k1 k2x (s) = (J s + k3)
(k1 k2/k3)x (s) = {(J/ k3 )s + 1}
kmx (s) = {T s + 1}

x
=
=
k m x Ts + 1
k m Ts + 1
Substitute x(s) = 1/s for a step input.

1
(t) = inverse Laplace transform of
km
s(Ts + 1)
Rearrange into a recognisable transform and

( )
(1 e ) = 0.982k

1/T
s(s + 1/T)

(t) = 1 e t/T
km

Put t = T (t) = k m 1 e 1 = 0.632k m a change of 63.2%

Put t = 4T (t) = k m

ma

change of 98.2%

The diagram shows the response and higher values of J

make the response longer.

4. A position control system has a transfer function G(s) = 1/(3 s + 1). The input is changed at a
constant rate of 4 mm/s from the zero position. Calculate the error after 2 seconds and the steady
state error.
c
c(1/T)
1
= 2
Transform for a ramp G(s) = 2
G(s) =
(Ts + 1)
s (Ts + 1) s (s + 1/T)
If we replace c with k and 1/T with a we have
ca
G(s) = 2
and we can find this in the table of transforms. The inverse transform gives the
s (s + a)
solution
o (t) = c {t - T(1 - e-t/T)}
After 2 seconds o (t) = 4 {2 - 3(1 - e-2/3)} = 2.16 mm
At large values of time t the term ( e-t/T) becomes negligibly small and the output becomes:
o (t) = c(t - T)
The error is c(t - T) ct = cT = 4 x 3 = 12 mm

SELF ASSESSMENT EXERCISE NO.2

1.

Find the D.C. gain and time constant for the following transfer functions.

2
0.2s + 0.5
2
iii. G ( s ) =
3s + 1

0.2
0.05s + 0.1
16
iv. G ( s ) =
8s + 4

i. G(s) =

ii. G(s) =

2
4
hence the DC gain is 4 and the time constant is 0.4
=
0.2s + 0.5 0.4s + 1
0.2
2
hence the DC gain is 2 and the time constant is 0.5
(ii) G(s) =
=
0.05s + 0.1 0.5s + 1
2
(iii) G ( s ) =
This needs no manipulation and the DC gain is 2 and the time constant is 3
3s + 1
16
4
hence the DC gain is 4 and the time constant is 2
(iv) G ( s ) =
=
8s + 4 2 s + 1

(i) G(s) =

2. The output speed of a motor ( rad/s) is related to the angle of the input sensor ( radian) by the
km

transfer function (s) =

Where km = 15 s-1 and Tm = 4 s
Tm s + 2

Determine the D.C. gain and time constant of the system.

km

15
7.5
(s) =
=
=

Tm s + 2 4 s + 2 2s + 1

hence the DC gain is 7.5s-1 and the time constant is 2s

Note the gain has units of s-1 because / has units of s-1
SELF ASSESSMENT EXERCISE NO.3

1. A system has a transfer function

o
1
Determine the output time response to a
(s) =
i
(s + 2)(s + 3)

unit step input.

i
1
Convert to partial fractions
=
(s + 2)(s + 3) s(s + 2)(s + 3)
1
1
1
1 1
1
Inverse transforms o (t) = e 2t + e 3t
o (s) =
+
6s 2(s + 2 ) 3(s + 2)
6 2
3

o (s) =

2. A system has a transfer function

o
1
Determine the output time response to a
(s) =
i
(s + 1)(s + 2)

unit ramp input.

i
1
For a unit ramp o (s) = 2
o (s) =
(s + 1)(s + 2)
s (s + 1)(s + 2)
1
3
1
4
Change to partial fractions o (s) = 2 +
+
4 s (s + 1) (s + 2)
2s
t 3
1
Inverse transforms o (t) = + e t + e 2t
2 4
4